/* Copyright (c) 2006-2014, Universities Space Research Association (USRA).
*  All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*     * Redistributions of source code must retain the above copyright
*       notice, this list of conditions and the following disclaimer.
*     * Redistributions in binary form must reproduce the above copyright
*       notice, this list of conditions and the following disclaimer in the
*       documentation and/or other materials provided with the distribution.
*     * Neither the name of the Universities Space Research Association nor the
*       names of its contributors may be used to endorse or promote products
*       derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY USRA ``AS IS'' AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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*/

#ifndef ROBOT_POSITION_SERVER
#define ROBOT_POSITION_SERVER

#include <map>
#include <string>
#include <vector>

#include "ThreadMutex.hh"

class RobotPositionServer
{
public:
  RobotPositionServer(int _height, int _width);
  ~RobotPositionServer();

  bool setRobotPosition(const std::string& name, int row, int col);

  bool gridOccupied(int row, int col) const;

  void getRobotPosition(const std::string& name, int& row, int& col);

private:

  std::vector<std::vector<std::string> > m_OccupancyGrid;
  std::map<std::string, std::vector<int> > m_NameToPositionMap;
  std::map<std::string, std::vector<int> >::iterator m_NameToPositionMapIter;
  PLEXIL::ThreadMutex m_RobotPositionMutex;
};

#endif // ROBOT_POSITION_SERVER
